Interchangeable mounting platform

ABSTRACT

A platform for interchangeably mounting a payload to a base support is provided. In one aspect, the platform comprises: a support assembly configured to be releasably coupled to a payload via a first coupling and configured to control a spatial disposition of the payload; and a mounting assembly configured to be releasably coupled via a second coupling to a plurality of types of base supports selected from at least two of the following: an aerial vehicle, a handheld support, or a base adapter mounted onto a movable object.

CROSS-REFERENCE

This application is a continuation of U.S. patent application Ser. No.15/154,740, filed May 13, 2016, which is a continuation of U.S. patentapplication Ser. No. 15/092,959, filed Apr. 7, 2016, which is acontinuation of U.S. patent application Ser. No. 15/012,210, filed onFeb. 1, 2016, which is a continuation of U.S. patent application Ser.No. 14/463,558, filed Aug. 19, 2014, now U.S. Pat. No. 9,280,038, issuedMar. 8, 2016, which is a continuation of International Application No.PCT/CN2014/076420, filed Apr. 28, 2014, the contents of each of whichare hereby incorporated by reference in their entirety.

BACKGROUND OF THE INVENTION

Aerial vehicles such as unmanned aerial vehicles can be used forperforming surveillance, reconnaissance, and exploration tasks formilitary and civilian applications. Such vehicles may carry a payloadconfigured to perform a specific function. Typically, the payload iscoupled to the vehicle via a suitable mounting platform. For example, anunmanned aerial vehicle used for aerial photography may be equipped witha gimbal for carrying a camera.

Existing mounting platforms may permit a payload to be carried only by asingle vehicle type. This may prevent the user from using the payloadwith other vehicle types, thereby limiting the usability and versatilityof the payload.

SUMMARY OF THE INVENTION

In some instances, it may be desirable for a payload to beinterchangeably mounted to many different types of vehicles, as well asother objects, using a single mounting platform. Thus, a need exists forimproved mounting platforms for coupling a payload to diverse types ofbase supports. The present invention provides systems, methods, anddevices related to mounting platforms that can be interchangeablycoupled to base supports, such as a movable object or an adapter carriedby a movable object. Such mounting platforms may enable datatransmission between a payload coupled to the platform and the basesupport. Furthermore, the mounting platform may be configured to controla spatial disposition of the payload. Advantageously, the mountingplatforms described herein, along with related systems, methods, anddevices, permit the payload to be used in many different contexts,thereby improving convenience and flexibility for the user.

Thus, in one aspect, a platform for interchangeably mounting a payloadto a base support is provided. The platform comprises: a supportassembly configured to be releasably coupled to a payload via a firstcoupling and configured to control a spatial disposition of the payload;and a mounting assembly configured to be releasably coupled via a secondcoupling to a plurality of types of base supports selected from at leasttwo of the following: an aerial vehicle, a handheld support, or a baseadapter mounted onto a movable object.

In some embodiments, the payload can include an imaging device.

In some embodiments, the support assembly can be electrically coupled tothe payload. The mounting assembly can be electrically coupled to thebase support. The first and second couplings can enable transmission ofdata between the payload and the base support. The data can includepayload data provided by the payload to the base support. Alternatively,the data can include control signals provided by the base support to atleast one of the support assembly or the payload. The control signalscan control the spatial disposition of the payload via the supportassembly. Optionally, the control signals can control a function of thepayload. The first and second couplings can enable transmission of powerfrom the base support to the payload.

In some embodiments, the support assembly can be configured to controlan orientation of the payload relative to the base support. Theorientation of the payload can be controlled with respect to at leasttwo axes of rotation relative to the base support

In some embodiments, the base support includes a transmitter configuredto transmit payload data provided by the payload to a remote device. Thetransmitter can include a wireless transmitter. The base support can beconfigured to reduce vibrations of the payload. The aerial vehicle canbe an unmanned aerial vehicle. The movable object can be a vehicle. Thebase adapter can be a wearable base adapter and the movable object canbe a human being.

In another aspect, an aerial vehicle can include a vehicle body and aninterface situated on the vehicle body and configured to be releasablycoupled to the mounting assembly of a platform provided herein.

In another aspect, a method for interchangeably mounting a payload isprovided. The method comprises: providing a mounting platform releasablycoupled to a payload via a first coupling and configured to control aspatial disposition of the payload, the mounting platform releasablycoupled to a first base support via a second coupling; decoupling themounting platform from the first base support; and releasably couplingthe mounting platform, via a third coupling, to a second base supportdifferent from the first base support; wherein the first and second basesupports are each selected from one of the following: an aerial vehicle,a handheld support, or a base adapter mounted onto a movable object.

In some embodiments, the payload can include an imaging device.

In some embodiments, the support assembly can be electrically coupled tothe payload. The mounting platform can be electrically coupled to atleast one of the first or second base supports. The first and secondcouplings can enable transmission of data between the payload and thefirst base support. The data can include payload data provided by thepayload to the first base support. Alternatively, the data can includecontrol signals provided by the first base support to at least one ofthe mounting platform or the payload. The control signals can controlthe spatial disposition of the payload via the mounting platform.Optionally, the control signals can control a function of the payload.The first and second couplings can enable transmission of power from thefirst base support to the payload.

In some embodiments, the mounting platform can be configured to controlan orientation of the payload relative to the base support. Theorientation of the payload can be controlled with respect to at leasttwo axes of rotation relative to the base support

In some embodiments, the base support includes a transmitter configuredto transmit payload data provided by the payload to a remote device. Thetransmitter can include a wireless transmitter. The base support can beconfigured to reduce vibrations of the payload. The aerial vehicle canbe an unmanned aerial vehicle. The movable object can be a vehicle. Thebase adapter can be a wearable base adapter and the movable object canbe a human being.

In another aspect, a handheld platform for controlling an imaging deviceis provided. The handheld platform comprises: a handheld support memberconfigured to be releasably mechanically and electrically coupled via anelectromechanical coupling to a gimbal assembly controlling a spatialdisposition of a coupled imaging device, the electromechanical couplingenabling transmission of image data from the imaging device to thehandheld support member; and an input interface carried by the handheldsupport member and configured to receive input from a user, the inputcomprising commands provided to the gimbal assembly via theelectromechanical coupling for controlling the spatial disposition ofthe imaging device.

In some embodiments, the imaging device includes a mobile device orcamera.

In some embodiments, the commands are configured to control rotation ofthe imaging device relative to the handheld support member about atleast one of a roll axis, a pitch axis, or a yaw axis. The input canfurther include commands provided to the imaging device via theelectromechanical coupling for controlling a function of the imagingdevice. The function can include at least one of a record function, azoom function, a power on function, or a power off function.

In some embodiments, the handheld support member can include a powersupply and the electromechanical coupling can enable transmission ofpower from the power supply to the imaging device. The handheld supportmember can include a transmitter configured to transmit the image datato a remote device. The transmitted can include a wireless transmitter.The handheld support member can include a display unit for displayingthe image data.

In some embodiments, the gimbal assembly can be configured to bereleasably mechanically and electrically coupled to an aerial vehicle.

In another aspect, a handheld system for generating image data comprisesa handheld platform provided herein, a gimbal assembly releasablymechanically and electrically coupled to the handheld platform, and animaging device coupled to the gimbal assembly.

In another aspect, a platform for interchangeably mounting an imagingdevice to a base support is provided. The platform comprises: a supportassembly configured to be releasably coupled to the imaging device via afirst coupling and configured to control a field of view of the imagingdevice; and a mounting assembly configured to be releasably coupled viaa second coupling to a plurality of types of base supports selected fromat least two of the following: an aerial vehicle, a handheld support, ora base adapter mounted onto a movable object.

In some embodiments, the imaging device includes a mobile device orcamera.

In some embodiments, the support assembly can be electrically coupled tothe imaging device. The mounting assembly can be electrically coupled tothe base support. The first and second couplings can enable transmissionof image data provided by the imaging device between the imaging deviceand the base support. Alternatively, the first and second couplings canenable transmission of control signals provided by the base support toat least one of the support assembly or the imaging device. The controlsignals can control a field of view of the imaging device. Optionally,the control signals can control at least one of a record function, azoom function, a power on function, or a power off function of theimaging device. The first and second couplings can enable transmissionof power from the base support to the imaging device.

In some embodiments, the base support includes a transmitter configuredto transmit image data provided by the imaging device to a remotedevice. The transmitter can include a wireless transmitter. The basesupport can be configured to reduce vibrations of the imaging device.The aerial vehicle can be an unmanned aerial vehicle. The movable objectcan be a vehicle. The base adapter can be a wearable base adapter andthe movable object can be a human being.

In another aspect, an aerial vehicle can include a vehicle body and aninterface situated on the vehicle body and configured to be releasablycoupled to the mounting assembly of a platform provided herein.

In another aspect, a method for interchangeably mounting an imagingdevice is provided. The method comprises: providing a mounting platformreleasably coupled to the imaging device via a first coupling andconfigured to control a field of view of the imaging device, themounting platform releasably coupled to a first base support via asecond coupling; decoupling the mounting platform from the first basesupport; and releasably coupling the mounting platform, via a thirdcoupling, to a second base support different from the first basesupport; wherein the first and second base supports are each selectedfrom one of the following: an aerial vehicle, a handheld support, or abase adapter mounted onto a movable object.

In some embodiments, the imaging device includes a mobile device orcamera.

In some embodiments, the mounting platform can be electrically coupledto the imaging device. The mounting platform can be electrically coupledto at least one of the first or second base supports. The first andsecond couplings can enable transmission of image data provided by theimaging device between the imaging device and the first base support.Alternatively, the first and second couplings can enable transmission ofcontrol signals provided by the first base support to at least one ofthe mounting platform or the imaging device. The control signals cancontrol a field of view of the imaging device. Optionally, the controlsignals can control at least one of a record function, a zoom function,a power on function, or a power off function of the imaging device. Thefirst and second couplings can enable transmission of power from thefirst base support to the imaging device.

In some embodiments, at least one of the first or second base supportsincludes a transmitter configured to transmit image data provided by theimaging device to a remote device. The transmitter can include awireless transmitter. At least one of the first or second base supportscan be configured to reduce vibrations of the imaging device. The aerialvehicle can be an unmanned aerial vehicle. The movable object can be avehicle. The base adapter can be a wearable base adapter and the movableobject can be a human being.

It shall be understood that different aspects of the invention can beappreciated individually, collectively, or in combination with eachother. Various aspects of the invention described herein may be appliedto any of the particular applications set forth below or for any othertypes of base supports. Some of the base supports described herein maybe movable objects. Any description herein of movable objects, such asan aerial vehicle, may apply to and be used for any movable object, suchas any vehicle. Additionally, the systems, devices, and methodsdisclosed herein in the context of aerial motion (e.g., flight) may alsobe applied in the context of other types of motion, such as movement onthe ground or on water, underwater motion, or motion in space.

Other objects and features of the present invention will become apparentby a review of the specification, claims, and appended figures.

INCORPORATION BY REFERENCE

All publications, patents, and patent applications mentioned in thisspecification are herein incorporated by reference to the same extent asif each individual publication, patent, or patent application wasspecifically and individually indicated to be incorporated by reference.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features of the invention are set forth with particularity inthe appended claims. A better understanding of the features andadvantages of the present invention will be obtained by reference to thefollowing detailed description that sets forth illustrative embodiments,in which the principles of the invention are utilized, and theaccompanying drawings of which:

FIG. 1 illustrates a mounting platform for coupling a payload to a basesupport, in accordance with embodiments;

FIG. 2 illustrates couplings between a base support, mounting platform,and payload, in accordance with embodiments;

FIG. 3 illustrates a support assembly of a mounting platform, inaccordance with embodiments;

FIG. 4A illustrates a top view of a coupling mechanism for connecting amounting platform to a base support; in accordance with embodiments;

FIG. 4B is a cross-section of the coupling mechanism of FIG. 4A throughline D-D;

FIGS. 4C-4H illustrate various views of the coupling mechanism of FIG.4A;

FIG. 5A illustrates a top view of another coupling mechanism forconnecting a mounting platform to a base support, in accordance withembodiments;

FIG. 5B is a cross-section of the coupling mechanism of FIG. 5A throughline E-E;

FIG. 6A-6C illustrate a payload mount for securing a payload to amounting platform, in accordance with embodiments;

FIG. 7A-7D illustrate another payload mount for securing a payload to amounting platform, in accordance with embodiments;

FIG. 8 illustrates a base adapter for mounting on a movable object, inaccordance with embodiments;

FIG. 9 illustrates a handheld support, in accordance with embodiments;

FIG. 10 is a schematic illustration by way of block diagram depicting amethod for interchangeably mounting a payload, in accordance withembodiments;

FIG. 11A illustrates a perspective view of a mounting platform, inaccordance with embodiments;

FIG. 11B illustrates another perspective view of the mounting platformof FIG. 11A, in accordance with embodiments;

FIG. 11C illustrates a front view of the mounting platform of FIG. 11A,in accordance with embodiments;

FIGS. 11D and 11E illustrate side view of the mounting platform of FIG.11A, in accordance with embodiments;

FIG. 11F illustrates a top view of the mounting platform of FIG. 11A, inaccordance with embodiments;

FIG. 11G illustrates an exploded perspective view of the mountingplatform of FIG. 11A, in accordance with embodiments;

FIG. 11H illustrates another exploded perspective view of the mountingplatform of FIG. 11A, in accordance with embodiments;

FIG. 11I illustrates an exploded front view of the mounting platform ofFIG. 11A, in accordance with embodiments;

FIGS. 11J and 11K illustrates exploded side views of the mountingplatform of FIG. 11A, in accordance with embodiments;

FIGS. 12A and 12B illustrate exploded perspective views of a couplingmechanism for connecting a mounting platform to a base support, inaccordance with embodiments;

FIG. 12C illustrates a side view of the coupling mechanism of FIGS. 12Aand 12B, in accordance with embodiments;

FIG. 12D illustrates a cross-sectional view of the coupling mechanism ofFIG. 12C through line F-F, in accordance with embodiments;

FIG. 13A illustrates an exploded perspective view of a couplingmechanism for connecting a mounting platform to a base support, inaccordance with embodiments;

FIG. 13B illustrates a side view of the coupling mechanism of FIG. 13A,in accordance with embodiments;

FIG. 13C illustrates a cross-sectional view of the coupling mechanism ofFIG. 13B through line G-G, in accordance with embodiments;

FIG. 14 illustrates an unmanned aerial vehicle, in accordance withembodiments;

FIG. 15 illustrates a movable object including a carrier and a payload,in accordance with embodiments; and

FIG. 16 is a schematic illustration by way of block diagram of a systemfor controlling a movable object, in accordance with embodiments.

DETAILED DESCRIPTION OF THE INVENTION

The systems, devices, and methods of the present invention provideimproved mounting platforms that enable a payload to be interchangeablycoupled to a plurality of different types of base supports. The basesupport can be a movable object (e.g., an unmanned aerial vehicle(UAV)), a base adapter mounted onto a movable object, or any otherdevice for supporting the payload, such as a handheld support. In someembodiments, the mounting platforms described herein include electricalcouplings permitting data transmission between the base support (and/ora movable object coupled thereto) and the payload. Advantageously, themounting platform can be quickly coupled to and/or decoupled from thebase supports, thereby enabling the payload to be used interchangeablywith a wide variety of base supports.

For example, an interchangeable mounting platform can be used to mountan imaging device (e.g., a camera) to a UAV. The mounting platform maybe operable to control a spatial disposition of the imaging devicerelative to the UAV, such that the orientation of the imaging device canbe adjusted with respect to up to three axes of freedom. Additionally,when desired, the mounting platform can be detached from the UAV andcoupled to a handheld support (e.g., a handle). The handheld support,can be configured to accept user input for controlling the spatialdisposition of the imaging device and/or a function of the imagingdevice (e.g., an image capture function). Accordingly, the mountingplatform enables the camera to be used for aerial imaging as well as forhandheld photography.

Thus, in one aspect, the present invention provides a platform forinterchangeably mounting a payload to a base support. In someembodiments, the platform includes a support assembly configured to bereleasably coupled to a payload, and a mounting assembly configured tobe releasably coupled to a base support. The support assembly can beconfigured to control a spatial disposition of the payload (e.g.,position, orientation). The mounting assembly can be configured tocouple a plurality of types of base supports, such as at least twodifferent types of base supports. Examples of base supports include anaerial vehicle, a handheld support, or a base adapter mounted onto amovable object (e.g., a vehicle) or wearable by a movable object (e.g.,a human being). In contrast to existing approaches in which differentbase supports require different mounting platforms, the disclosedplatform can be used interchangeably with many different types of basesupports, thus improving flexibility and convenience for the user.

Furthermore, the support assembly can be electrically coupled to thepayload, and the mounting assembly can be electrically coupled to thebase support. The electrical couplings of the support assembly and themounting assembly can enable transmission of data between the payloadand the base support. For example such data may include payload dataprovided by the payload to the base support, as well as control signalsprovided by the base support to the payload (or the support assembly) tocontrol the spatial disposition of the payload. In some embodiments, thepayload may be an imaging device, and the support assembly can beconfigured to control a field of view of the imaging device.Accordingly, the control signals provided by the base support can beused to control the field of view of the imaging device. Furthermore,the electrical couplings may enable the support assembly and/or payloadto be powered by the base support. The functionalities described herein

In another aspect, the present invention provides a method forinterchangeably mounting a payload. The method includes providing amounting platform releasably coupled to a payload and configured tocontrol a spatial disposition of the payload. In some embodiments, themounting platform can be releasably coupled to an imaging device andconfigured to control a field of view of the imaging device. Themounting platform can be releasably coupled to a first base support. Themethod includes decoupling the mounting platform from the first basesupport, followed by coupling the mounting platform to a second basesupport different from the first base support via a releasable coupling.The base supports described above are equally applicable to theseembodiments. The couplings may be electrical couplings enablingtransmission of data between the payload (e.g., image data from animaging device) and at least one of the first or second base supports,as previously mentioned.

In another aspect, the present invention provides a handheld platformfor controlling an imaging device. In some embodiments, the platformincludes a handheld support member configured to be releasablymechanically and electrically coupled to a gimbal assembly, and an inputinterface carried by the handheld support. The gimbal assembly can becoupled to an imaging device, and can be used to control the spatialdisposition of the imaging device. The input interface can receive inputfrom a user, such as commands provided to the gimbal assembly via theelectrical coupling for controlling the spatial disposition of theimaging device. Where desired, the electrical coupling can enabletransmission of image data generated by the imaging device to thehandheld support.

A payload of the present invention can include non-living entities(e.g., cargo, equipment, instruments) as well as living entities (e.g.,passengers). The payload may be configured not to perform any operationor function. Alternatively, the payload can be a payload configured toperform an operation or function, also known as a functional payload.For example, the payload can include one or more sensors for surveyingone or more targets. Any suitable sensor can be incorporated into thepayload, such as an imaging device (e.g., a camera, a mobile deviceincluding a camera such as a smartphone), an audio capture device (e.g.,a parabolic microphone), an infrared imaging device, or an ultravioletimaging device. The sensor can provide static sensing data (e.g., aphotograph) or dynamic sensing data (e.g., a video). In someembodiments, the sensor provides sensing data for an object targeted bythe payload (e.g., an object targeted for surveillance). Alternativelyor in combination, the payload can include one or more emitters forproviding signals to one or more targets. Any suitable emitter can beused, such as an illumination source or a sound source. In someembodiments, the payload includes one or more transceivers, such as forcommunication with a remote entity. Optionally, the payload can beconfigured to interact with the environment or a target. For example,the payload can include a tool, instrument, or mechanism capable ofmanipulating objects, such as a robotic arm.

The payload may be stabilized so as to reduce vibrations or otherunwanted motions that may interfere with the payload operation. In someinstances, the entire payload may be stabilized. Alternatively, someportions of the payload may be stabilized, while other portions may notbe stabilized. For example, the payload can be a camera or other imagingdevice in which the optical components (e.g., lenses, image sensors) arestabilized, while the non-optical components (e.g., positional sensor,storage medium, battery, motors, circuitry, power supply, processor,housing, etc.) are not stabilized.

In some embodiments, the payload can be carried by a suitable basesupport. The base support can be configured to support some or all ofthe weight of the payload. As previously mentioned, the base support canbe a movable object, examples of which are described in further detailelsewhere herein. Alternatively, the base support can be an adapter(e.g., a rack, frame, holder, mount, cradle, bracket, plate, handle,etc.) configured to be coupled to and/or carried by a movable object. Insome instances, the base support can be an adapter that is worn by aliving entity (e.g., a human) or coupled to an object worn by a livingentity (e.g., a helmet, harness). Exemplary embodiments of suitable basesupports are provided below.

The payload can be coupled to the base support using a mountingplatform, which may also be referred to herein as a “carrier” or a“gimbal assembly.” The payload may be integrally formed with themounting platform. Alternatively, the payload provided separately fromand coupled to the mounting platform. The coupling may be a permanentcoupling or a releasable coupling. For example, the payload may becoupled to the mounting platform using adhesives, bonding, welding,fasteners (e.g., screws, nuts, bolts, pins), interference fits, snapfits, and the like. The coupling may fix the payload at specifiedposition and/or orientation relative to the mounting platform.Alternatively, the coupling may permit movement of the payload withrespect to the mounting platform (e.g., with up to six axes of freedomof motion).

The mounting platform can be coupled to the base support, eitherdirectly or indirectly, and the coupling may be a permanent coupling ora releasable coupling. Exemplary coupling mechanisms are described infurther detail elsewhere herein. Any description herein pertaining tocouplings between a payload and a mounting platform can also be appliedto couplings between a base support and the mounting platform, andvice-versa. The coupling between the base support and the mountingplatform may permit motion of the mounting platform relative to the basesupport (e.g., up to three axes of freedom in translation and/or up tothree axes of freedom in rotation). Alternatively, the spatialdisposition of the mounting platform may be fixed relative to the basesupport.

In some embodiments, the mounting platform can be configured to controla state of the payload, such as the spatial disposition of the payload(e.g., position and/or orientation). For example, the mounting platformmay include one or more gimbals directing the movement of the payloadrelative to the base support. In some embodiments, the mounting platformcan permit the payload to move relative to the base support (e.g., withrespect to one, two, or three axes of translation and/or one, two, orthree axes of rotation). Conversely, the mounting platform can constrainthe movement of the payload relative to the base support along one ormore directions. As another example, the mounting platform can beconfigured to move relative to the base support (e.g., with respect toone, two, or three axes of translation and/or one, two, or three axes ofrotation) such that the payload maintains its position and/ororientation relative to a suitable reference frame regardless of themovement of the base support. The reference frame can be a fixedreference frame (e.g., the surrounding environment). Alternatively, thereference frame can be a moving reference frame (e.g., the base support,a payload target). In some embodiments, the mounting platform can beadapted to reduce or prevent certain movements of the payload. Forexample, the mounting platform may include one or more stabilizingelements (e.g., dampers) for reducing or eliminating unwanted motions ofthe payload (e.g., shaking and/or vibrations).

Alternatively, the mounting platform can control a state of the payloadby controlling a function of the payload. For example, the mountingplatform can control an on/off state of the payload. As another example,the mounting platform can control the payload so as to cause the payloadto operate according to a specified operating mode. Furthermore, themounting platform can control the payload so as to cause the payload toperform a function, stop performing a function, perform a function atspecified intervals, and so on. In some embodiments, when the payload isan imaging device, the mounting platform can be configured to control afield of view of the imaging device. The mounting platform may controlthe field of view by controlling the spatial disposition of the imagingdevice, as described above. Alternatively or in addition, the field ofview can be changed by controlling suitable functions of the imagingdevice, such as by controlling the zoom level, viewing angle, focus,etc. of the imaging device.

Referring now to the drawings, FIG. 1 depicts a mounting platform 100for coupling a payload 102 to a base support 104, in accordance withembodiments. Although the payload 102 is depicted in FIG. 1 as a camera,the payload 102 can be any suitable device or apparatus, and anydescription herein related to an imaging device such as a camera can beapplied to other types of payloads, and vice-versa. Additionally,although the base support 104 is illustrated as an aerial vehicle, othertypes of base supports can also be used, and any described hereinrelating to an aerial vehicle can also be applied to other basesupports.

The mounting platform 100 can include a support assembly 106, one ormore actuators 108, and a mounting assembly 110. The support assembly106 can couple and provide structural support to the payload 102. Forexample, the support assembly 106 can include a cradle, bracket, frame,holder, arm, or any other element suitable for coupling the payload 102.As previously mentioned, the payload 102 can be releasably coupled tothe support assembly 106. In some embodiments, the support assembly 102can be configured to control a spatial disposition of the payload 102.For example, when desired, the support assembly 106 can control theorientation of the payload 102 with respect to at least two axes offreedom relative to the base support 104. The movement of the supportassembly 106 can produce a corresponding movement of the payload 102. Insome embodiments, when the payload 102 is an imaging device, movement(s)of the support assembly 106 can be used to alter the field of view ofthe imaging device (e.g., by controlling the spatial disposition).

The movement of the support assembly 106 may be actuated by the one ormore actuators 108 (e.g., motors, such as AC motors or DC motors). Anynumber of actuators can be used, such as one, two three, four, five, ormore. The actuators 108 can actuate a rotation of the support assembly106 about one or more axes of rotation (e.g., roll axis, pitch axis, oryaw axis). The rotation can cause the payload 102 to rotate about one ormore corresponding axes of rotation relative to the base support 104.Alternatively or in combination, the one or more actuators 108 canactuate a translation of the support assembly 106 along one or more axesof translation, and thereby produce a translation of the payload 102along one or more corresponding axes relative to the base support 104.

In some embodiments, the support assembly 106 can include a plurality ofindividual support assembly components (e.g., cradles, brackets, frames,holders, arms), some of which may be movable relative to one another.For example, a first component may rotate the payload 102 about a rollaxis, a second component may rotate the payload 102 about a pitch axis,and a third component may rotate the payload 102 about a yaw axis. Asanother example, a first component may translate the payload 102 along afirst translation axis, a second component may translate the payload 102along a second translation axis, and a third component may translate thepayload 102 along a third translation axis. Any suitable combination ofsupport assembly components can be used in order to achieve the desiredcombination of translational and/or rotational movements. The supportassembly components may each be capable of moving independently.Alternatively, the movement of the at least some of the components maybe dependent on or otherwise linked to the movement of other components.The actuators 108 can actuate the movement of the support assemblycomponents. In some instances, each support assembly component can becoupled to a single actuator. Alternatively, a single actuator can becoupled to a plurality of support assembly components, or vice-versa.The actuators 108 can permit the movement of multiple support assemblycomponents simultaneously, or may be configured to permit the movementof a single support assembly component at a time. Any description hereinrelating to the support assembly can also be applied the individualcomponents of the support assembly, and vice-versa.

In some embodiments, the support assembly 106 can include one or moremotion sensors (not shown) configured to detect the movement of thesupport assembly 106 (or individual components thereof) and/or thepayload 102. For example, the motion sensors may include gyroscopes,accelerometers, or suitable combinations thereof. Where desired, themotion sensors can be provided as part of an inertial measurement unit(IMU). The motion data provided by the motion sensors can be used todetermine the current spatial disposition of the support assembly 106and/or the payload 102. For example, the motion data may be fed back tothe actuators 108 (or a suitable device controlling the actuators 108)in order to generate more precise movements of the support assembly 106.

The mounting assembly 110, which may be optional, can be used to couplethe support assembly 106 to the base support 104. The mounting assembly110 can be any device or mechanism suitable for interfacing between thesupport assembly 106 and the base support 104, such as a plate, bracket,frame, stand, arm, shaft, or suitable combinations of such devices. Insome embodiments, the mounting assembly 110 can be integrally formedwith the support assembly 106. Alternatively, the mounting assembly 110can be formed separately from the support assembly 106 and coupled tothe support assembly 106 using any of the techniques described herein.The coupling between the mounting assembly 110 and the support assembly106 may permit the support assembly 106 to be moved relative to themounting assembly 110 (e.g., with up to three axes of freedom intranslation and/or up to three axes of freedom in rotation). Themounting assembly 110 can be coupled to the base support 104, using anyof the coupling approaches described elsewhere herein. The spatialdisposition of the mounting assembly 110 may be fixed relative to thebase support 104. Alternatively, the mounting assembly 110 may bemovable relative to the base support 104 (e.g., with up to three axes offreedom in translation and/or up to three axes of freedom in rotation).

In addition to mechanically coupling the payload 102 and the basesupport 104, the mounting platform 100 can also be configured tooperably couple the payload 102 and the base support 104. For example,the mounting platform 100 can be electrically coupled to the payload 102and the base support 104 in a manner permitting electrical communicationbetween the payload 102 and the base support 104. In some embodiments,the support assembly 106 can be electrically coupled to the payload 102,the mounting assembly 110 can be electrically coupled to the basesupport 104, and the support assembly 106 can be electrically coupled tothe mounting assembly 110, such that an electrically conductive path isprovided between the payload 102 and base support 104 via the mountingassembly 110 and support assembly 106. The electrical couplings canutilize wires, cables, pins, prongs, plugs, sockets, rings, or other anyother suitable electrical connecting elements. In some instances, theelectrical couplings may be configured to maintain electricalconnectivity (e.g., via slip rings and the like) even if one or morecoupled elements (e.g., the payload 102, base support 104, the mountingplatform 100, or components thereof) are moving relative to each other.Similar to the mechanical couplings described herein, the electricalcouplings may be releasable couplings enabling a user to rapidly coupleand/or decouple the mounting platform 100 from the base support 104 (orthe payload 102). In some embodiments, the mechanical and electricalcouplings can be integrated into a releasble electromechanical interfacecoupling the mounting platform 100 to the base support 104 and/or thepayload 102.

FIG. 2 illustrates couplings between a base support 200, mountingplatform 202, and payload 204, in accordance with embodiments. The basesupport 200 can be operably coupled to the payload 204 via respectiveconnections to the mounting platform 202. In some embodiments, the basesupport 200 includes a plurality of functional components that areoperably coupled to the payload 204 through the mounting platform 202,such as a power source 206, controller 208, memory 210, display 212, andcommunication module 214. Optionally, in alternative embodiments, thebase support 200 and/or the functional components described herein canbe operably coupled to the payload 204 independently of the mountingplatform 202 (e.g., via wireless communication).

The power source 206 (e.g., one or more batteries) can be used totransmit power to the mounting platform 202, via the electricalcouplings described herein. For example, the power source 206 can beused to power an actuator and/or a sensor of the mounting platform 202.The power source 206 may be a single-use power source, or a rechargeablepower source. In some instances, the power source 206 can be chargedwhile being carried by the base support 200. Alternatively, the powersource 206 may need to be removed from the base support 200 in order tobe charged. The power source 206 can be the same as the power sourceproviding power to the base support 200, such that the power source 206also provides power to other components of the base support 200 (e.g., apropulsion system, a flight control system, etc.) Conversely, the powersource 206 may be separate from the power source powering the basesupport 200. In some embodiments, the power source 206 may also be thepower source for the payload 204. Alternatively, the payload 204 may beequipped with its own power source, such that the power source 206serves as a backup unit for the payload 204.

The controller 208 can be configured to generate control signalstransmitted to the mounting platform 202. In some embodiments, thecontrol signals can be used to control a spatial disposition of thepayload 204 via the mounting platform 202, such as via the driving ofone or more actuators of the mounting platform 202 as described herein.Alternatively or in addition, the control signals can be transmitted tothe payload 204 via the mounting platform 202 in order to control afunction of payload 204. For example, when the payload 204 is an imagingdevice, the controller 208 can generate signals for controlling at leastone of a record function, zoom function, power on function, power offfunction, changing image resolution function, changing focus function,changing depth of field function, changing exposure time function, orchanging viewing angle function of the imaging device. Control of one ormore of these functions may result in a change in the field of view ofthe imaging device.

The control signals can be generated based on user input provided to thebase support 200. For example, the controller 208 can be operablycoupled to a suitable input interface for receiving control signalsinput by a user. The input interface can be located on the base support200, thus enabling user commands to be entered directly to the basesupport 200. Alternatively, the input interface may be located on adevice separate from the base support 200 (e.g., on a remote terminal,described elsewhere herein, or a computer, laptop, mobile device,tablet, etc.), such that the entered commands are transmitted to thebase support 200 (e.g., via suitable wired or wireless communicationmethods, such as local area networks (LAN), wide area networks (WAN),infrared, radio, WiFi, point-to-point (P2P) networks, telecommunicationnetworks, cloud communication, etc.) over an intervening distance.Examples of suitable input interfaces include keyboards, mice, buttons,joysticks, or touchscreens. In some embodiments, the control signals canbe automatically generated by the base support 200 (or a separate devicein communication with the base support 200) without any user input. Forexample, the control signals can be provided by a suitable onboardprocessor (not shown) of the base support 200.

Alternatively, the mounting platform 202 can be configured to receivecontrol signals from devices other than the controller 208. For example,the mounting platform 202 can be in direct communication with a deviceseparate from the base support 200 (e.g., a remote terminal, computer,laptop, mobile device, tablet, etc.), and thereby receive controlsignals for controlling operation of the mounting platform 202 and/orpayload 204. As another example, the mounting platform 202 can includesuitable hardware and/or software components enabling the mountingplatform 202 to generate control signals independently.

In some embodiments, the payload 204 can transmit payload data to thebase support 200 for storage within the memory 210. The payload data canbe transmitted via the mounting platform 202, or directly to the basesupport 200 (e.g., via wireless communication). The payload data can beany data generated and/or obtained by the payload 204, such as sensordata (e.g., image data, position data, orientation data, motion data) aswell as data relating to a current state of the payload 204 (e.g., dataregarding whether the payload 204 is turned on, turned off, currentlyperforming a certain function, completed a certain function, etc.) Thepayload 204 may transmit some or all of the payload data to the memory210. In some embodiments, the payload data can be transmittedcontinuously. Alternatively, the payload data can be transmitted atcertain times, such as at specified time intervals or when certainevents occur (e.g., new data is generated).

The base support 200 can include a display 212, which can be any devicesuitable for visually displaying the data provided by the payload 204 toa user. For example, the display 212 can be a monitor or screen used todisplay photographs or videos generated by a camera. The display 212 maybe integrally formed with the base support 200, or may be providedseparately from and coupled to the base support 200. In someembodiments, the base support 200 can include an interface adapted toreceive a mating interface of the display 212 (e.g., a socket or port)such that the display 212 can be releasably coupled to the base support200. The data presented on the display 212 can be provided directly fromthe payload 204, or can be retrieved by the display 212 from the memory210. The display 212 may receive and/or present payload data inreal-time, or only at specified time intervals. In some embodiments, thedisplay 212 can also be configured to display data other than payloaddata, such as data relating to a state of the mounting platform 202(e.g., the current spatial disposition) and/or a state of the basesupport 200 (e.g., the base support type, spatial disposition, remainingpower capacity, connectivity with other devices, etc.). The display 212may be controlled by a user via the input interface described above.

The base support 200 can include a communication module 214 forcommunicating data between the base support 200 and a remote device. Themodule can include one or more receivers, transmitters, and/ortransceivers. The receivers, transmitters, and/or transceivers can beconfigured to transmit data using any suitable wired or wirelesscommunication method. For example, the communication module 214 cantransmit data to the remote device via WiFi. Alternatively, thecommunication module 214 can transmit data to the remote device usingcables such as USB cables, and may include suitable interfaces or portsfor receiving such cables. The remote device can be a terminal, mobiledevice, computer, laptop, tablet, or movable object. For example, thecommunication module 214 can be used to communicate with a remote deviceproviding user input control signals to the controller 208, aspreviously mentioned. In some embodiments, the communication module 214can be used to transmit payload data to the remote device, and suchpayload data can be obtained directly from the payload 204 or retrievedfrom the memory 210. For example, the communication module 214 can beused to transmit image data to another device enabling a remote user toview the images collected by the payload 214. The communication module214 can also transmit other types of data, such as data relating to astate of the mounting platform 202 and/or the base support 200. Theoperation of the communication module 214 can be controlled by a user,such as via a suitable input interface, as previously described.

Optionally, the base support 200 can be used to transmit data (e.g.,image data such as video data, audio data, control data, etc.) to otherbase supports, using wired or wireless communication. The base supportsdescribed herein can be networked to each other in any suitable manner.For example, the base support 200 can be used as wireless hub forcommunicating between a plurality of other base supports. Some or all ofthe base supports can be controlled by a remote device or a plurality ofremote devices. The base support 200 can receive control signalsprovided by the remote device(s) and relay the control signals to theother base supports. Conversely, the base support 200 can receive data(e.g., image data, audio data, etc.) provided by the other base supportsand relay the data to the one or more remote devices.

FIG. 3 illustrates a support assembly 300 of a mounting platform, inaccordance with embodiments. The support assembly 300 can be used tocontrol the spatial disposition of a mounted payload, such as theorientation of the payload with respect to up to three axes of freedom.For example, the support assembly 300 may include a first orientationcontrol unit 302, a second orientation control unit 304, a thirdorientation control unit 306, and a payload mount 308. The payload mount308 can be configured to couple a payload. The first orientation controlunit 302 can be fixedly coupled to the payload mount 308, the secondorientation unit 304 can be fixedly coupled to the first orientationcontrol unit 302, and the third orientation control unit 306 can befixedly coupled to the second orientation control unit 304.

The first orientation control unit 302 can rotate the payload mount 308and payload about a first axis A (e.g., a roll axis). The secondorientation control unit 304 can rotate the first orientation controlunit 302, the payload mount 308, and payload about a second axis B(e.g., a pitch axis). The third orientation control unit 306 can rotatethe second orientation control unit 304, first orientation control unit302, payload mount 308, and payload about a third axis C (e.g., a yawaxis). The axes A, B, C may be orthogonal axes. Alternatively, the axesA, B, and C may be non-orthogonal axes. Each of the orientation controlunits 302, 304, 306 can produce a rotation about its respective axis(e.g., clockwise and/or counterclockwise) using suitable actuators, suchas motors.

The payload can be removably attached to the payload mount 308 (e.g.,snap-fit, or using clamps, brackets, cradles, frames, etc.). In someembodiments, the payload can be secured to the payload mount 308 with afacing direction X. For example, the payload can be an imaging device(e.g., camera, smartphone, mobile device), such that the optical axis ofthe imaging device is the facing direction X. The facing direction X maybe parallel to the first axis A. Alternatively, the facing direction Xmay be nonparallel to the first axis A.

The support assembly 300 can be mounted onto a base support, which maybe a UAV or other movable object, a base adapter mounted onto a movableobject, or a handheld support, as previously described herein. In someembodiments, the third orientation control unit 306 can be connected toa mounting assembly 310. The mounting assembly 310 can be coupled to orintegrally formed with the third control unit 306. The mounting assembly310 can include one or more coupling features configured to couple tothe support assembly 300 to a base support. For example, the mountingassembly 310 can include screw threads (male or female) adapted to matewith complementary screw threads on the base support. Alternatively orin addition, the mounting assembly 310 can include features configuredto interlock with complementary features on the base support. Otherexemplary mounting assemblies are described in greater detail below.Where desired, the mounting assembly 310 can include components forreducing vibrations or shaking of the payload when mounted onto the basesupport, such as rubber dampers.

In some embodiments, the support assembly 300 can be configured tocontrol the orientation of the payload with respect to the two axes offreedom. Accordingly, in these embodiments, the support assembly 300 mayinclude only the first and second orientation control units 302, 304,and the mounting assembly 310 may be positioned on the secondorientation control unit 304. Similarly, in some embodiments, thesupport assembly 300 can be configured to control the orientation of thepayload with respect to one degree of freedom. In such instances, thesupport assembly 300 may include only the first orientation control unit302, and the mounting assembly 310 may be positioned on the firstorientation control unit 302.

FIGS. 4A-4H illustrate a coupling mechanism 400 for connecting amounting platform to a base support (e.g., movable object such as a UAV,base adapter coupled to a movable object, or handheld support), inaccordance with embodiments. FIG. 4A illustrates a top view of thecoupling mechanism 400, while FIG. 4B illustrates a cross-section of thecoupling mechanism 400 taken through line D-D. The coupling mechanism400, as with all other coupling mechanisms described herein, may be aquick release coupling mechanism. A quick release coupling mechanism mayenable a user to rapidly mechanically couple and/or decouple a pluralityof components with a short sequence of simple motions (e.g., rotating ortwisting motions; sliding motions; depressing a button, switch, orplunger; etc.). For example, a quick release coupling mechanism mayrequire no more than one, two, three, or four motions to perform acoupling and/or decoupling action. In some instances, a quick releasecoupling mechanism can be coupled and/or decoupled manually by a userwithout the use of tools.

The coupling mechanism 400 includes a first portion 402 and a secondportion 404 adapted to releasably couple to each other. The firstportion 402 may be situated on the mounting platform (e.g., coupled toor integrally formed with a portion 406 of a mounting assembly) and thesecond portion 404 can be situated on the base support (e.g., coupled toor integrally formed with a portion 408 of the base support).Alternatively, the first portion 402 can be situated on the base supportand the second portion 404 can be situated on the mounting platform.Furthermore, it will be understood that any of the features describedherein as being situated on the first portion 402 may be situated on thesecond portion 404 in alternative embodiments, and vice-versa.

FIGS. 4C, 4D, and 4E illustrate side, perspective, and bottom views ofthe first portion 402, respectively. The first portion 402 can include afirst cylindrical body 410 having a plurality of inner tabs 412. Theinner tabs 412 can be situated along the perimeter of the bottom surfaceof the body 410 (the surface nearest the second portion 404) extendinginwards, thereby forming a plurality of intervening gaps 414. Similarly,the second portion 406 can include a second cylindrical body 416 havinga plurality of outer tabs 418. FIGS. 4F, 4G, and 4H illustrate side,perspective, and top views of the second portion 406, respectively. Theouter tabs 418 can be situated along the perimeter of the upper surfaceof the body 416 (the surface nearest the first portion 402) extendingoutwards, thereby forming a plurality of intervening gaps 420. Althoughthe first body 410 and second body 416 are depicted as each having threetabs 412, 418 and gaps 414, 420, any suitable number of tabs and gapscan be used (e.g., one, two, three, four, five, or more).

The first and second portions 402, 404 can be coupled via the tabs 412,418 and the gaps 414, 420. The inner tabs 412 of the first portion 402can be complementary to the gaps 420 of the second portion 406 and theouter tabs 418 of the second portion 406 can be complementary to thegaps 414 of the first portion 402. Accordingly, the first and secondportions 402, 404 can be releasably coupled to each other by sliding thetabs of each portion through their complementary gaps, then rotating theportions relative to each other (e.g., clockwise or counterclockwise) sothat the tabs 412 and 418 are interlocked and held against each other,thereby preventing the first and second portions 402, 404 from becomingdisengaged. The process can be reversed to decouple the first and secondportions 402, 404.

In some embodiments, the first and second portions 402, 404 can includemating features configured to lock the first and second portions 402,404 together to prevent inadvertent decoupling. For example, the firstbody 410 can include one or more posts 422 shaped to fit within one ormore complementary holes 424 of the second body 416. When the first andsecond portions 402, 404 are coupled as described above, the post 422 ispositioned such that it is received within the hole 424, therebyconstraining the movement of rotation of the first and second portions402, 404 relative to each other. Furthermore, the hole 424 can includefeatures configured to secure the post 422 within the hole 424, such asa first spring element 426. As another example, the second body 416 caninclude one or more second spring elements 428 configured to engage thefirst body 410 to prevent decoupling. For example, the second springelement 428 can be located at the periphery of the second body 416underneath an outer tab 418, such that the second spring element 428presses the inner and outer tabs 412, 418 against each other when thefirst and second portions 402, 404 are coupled. In a further example,the first body 410 can include a constraining element 430 configured toprevent relative rotation of the first and second bodies 410, 416 whenthe first and second portions 402, 404 are coupled in order to avoidinadvertent decoupling. In some instances, the element 430 can be usedfor routing electronic components (e.g., wires, cables, etc.) to theirrespective connection points.

In some embodiments, the first body 410 can include a plurality of pins432 configured to engage corresponding contacts 434 on the second body416 when the first and second portions 402, 404 are coupled. The pins432 and contacts 434 can be used to electrically couple the first andsecond portions 402, 404, and thereby electrically couple the mountingplatform and base support. The electrical coupling can be used totransmit power and/or data (e.g., payload data, control signals, etc.)between the mounting platform and base support, as previously describedherein with respect to FIG. 2.

FIGS. 5A-5B illustrate a coupling mechanism 500 for connecting amounting platform to a base support, in accordance with embodiments.Similar to the coupling mechanism 400, the coupling mechanism 500includes a first portion 502 and second portion 504, which may be usedto couple a mounting platform to a base support via a quick releasecoupling mechanism. The first portion 502 can be situated on a mountingplatform (e.g., a mounting assembly) and the second portion 504 can besituated on a base support, or vice-versa. The first and second portions502, 504 can be coupled to each other by respective interlocking innerand outer tabs 506, 508. In order to increase the stability of thecoupling and prevent inadvertent decoupling, a ball plunger mechanismcan be used to hold the first and second portions 502, 504 together. Theball plunger mechanism can include a base 510 fitted with one or moreball plungers (e.g., ball bearing 512 coupled to spring 514.) The base510 can be integrally formed with or coupled to the second portion 504.When the second portion 504 engages the first portion 502, the ballbearing 508 is pressed against the tab 506 of the first portion 502 bythe spring 514, thereby holding the tab 506 in an interlocked positionagainst the tab 508 of the second portion 504. Although a single ballplunger is depicted in FIG. 5B, any suitable number of ball plungers canbe used (e.g., one, two, three, four, five, or more).

The features of the coupling mechanisms described herein can be used inany suitable number and combination. For example, the ball plungermechanism of the coupling mechanism 500 can be used in combination withany components or features of the other embodiments described herein.Where desired, different coupling mechanisms can be used for differentbase supports. The coupling mechanisms can be adapted (e.g., withrespect to size, shape, features, etc.) in order to accommodate thedifferent morphologies of the various base supports. In someembodiments, the coupling mechanism can be selected based on anticipatedmovements or actions of the base support.

FIGS. 6A-6C illustrate a payload mount 600 for securing a payload to amounting platform, in accordance with embodiments. The payload mount 600can be used to releasably couple a payload, such as an imaging device(e.g., camera, smartphone, mobile device), to a support assembly (e.g.,the support assembly 300). The payload mount 600 can include a firstclamping portion 602, and second clamping portion 604, a first toothedsection 606, a second toothed section 608, and a movable assembly 610.(Some portions of the second clamping portion 604 are omitted in FIGS.6B, 6C for clarity). The second clamping portion 604 can be fastened tothe back of the first clamping portion 602 to form an adjustable mount600 for securing a payload. The first clamping portion 602 can include achannel 612 shaped to receive the second clamping portion 604 such thatthe second clamping portion 604 can slide with respect to the firstclamping portion (e.g., along the directions indicated by the arrows),thereby enabling a user to adjust the spacing between the clamping jaws614, 618 in order to secure and/or release a payload. The teeth of thefirst toothed section 606 can be configured to engage the teeth of thesecond toothed section 608, thereby securing the first and secondclamping portions 602, 604 to each other.

The first toothed section 606 can be situated on a plate 620 fastenedwithin the channel 612 of the first clamping portion 602 (e.g., usingscrews, nails, pins, etc.). Alternatively, the first toothed section 606can be integrally formed within the channel 612 the first clampingportion 602, such that the plate 620 is not required. The secondclamping portion 604 can include an aperture 622. The movable assembly610, which includes a rod 624 passing through a lever body 626, can bereceived within the aperture 622. The ends of the rod 624 can be fixedlycoupled to the second clamping portion 604 at the two sides of theaperture 622, thereby permitting the lever body 626 to pivot within theaperture 622. The second toothed section 608 can be situated on thelever body 626 (e.g., integrally formed with the lever body 626) in aposition engaging the first toothed section 606. The intermeshing of theteeth of toothed sections 606, 608 can secure the first and secondclamping portions 602, 604 at a fixed spatial disposition relative toeach other, thereby preventing inadvertent loosening of the clampingjaws 614, 618.

In some embodiments, the movable assembly 610 can be spring-loaded tobias the position of the lever body 626 in order to maintain theengagement between the toothed sections 606, 608. To separate theclamping jaws 614, 618 (e.g., to release a payload, prepare for mountinga payload, or adjust the spacing between the jaws), the user can presson the upper end of the lever body 626, thereby pivoting the lever body626 to separate the toothed sections 606, 608 and allow the secondclamping portion 604 to slide within the channel 612 of the firstclamping portion 602.

FIGS. 7A-7D illustrate a payload mount 700 for securing a payload to amounting platform, in accordance with embodiments. Similar to thepayload mount 600, the payload mount 700 includes a first clampingportion 702, a second clamping portion 704, a first toothed section 706,a second toothed section 708, and a movable assembly 710. (Some portionsof the first clamping portion 702 are omitted in FIGS. 7C, 7D forclarity). The second clamping portion 704 can be fastened to the back ofthe first clamping portion 702 to form an adjustable mount 700 forsecuring a payload. In some embodiments, the size of the mount 700 canbe adjusted by sliding the second clamping portion 704 relative to thefirst clamping portion 702 (e.g., along the directions indicated by thearrows). The teeth of the first toothed section 706 can be configured toengage the teeth of the second toothed section 708, thereby securing thefirst and second clamping portions 702, 704 to each other.

The first toothed section 706 can be situated within the channel 712formed in the first clamping portion 702. The first toothed section 706can be integrally formed with the first clamping portion 702, orsituated on a plate fastened within the channel 712 of the firstclamping portion 702. The movable assembly 710 can include a plate 714and a button 716, with the second toothed section 708 situated on theplate 714 in a position engaging the first toothed section 706. Theplate 714 and button 716 can be fixedly coupled to each other by a shaft(not shown). The shaft can pass through first and second apertures 718,720 situated in the first and second clamping portions 702, 704,respectively, such that the first and second clamping portions 702, 704are positioned between the plate 714 and button 716.

The button 716 can be actuated to move the plate 714 towards or awayfrom the first clamping portion 702, thereby causing the second toothedportion 708 to be engaged with or separated from the first toothedsection 706, respectively. For example, when the button 716 isdepressed, the disengagement of the first and second toothed sections706, 708 enables the user to adjust the positioning of the secondclamping portion 704 relative to the first clamping portion 702.Conversely, when the button 716 is released, the first and secondtoothed sections 706, 708 are intermeshed and prevent relevant movementof the first and second clamping portions 702, 704. In some embodiments,the movable assembly 710 can include one or more spring elements joiningthe button 716, connecting shaft, and plate 714, thereby biasing theposition of the plate 714 to maintain the engagement of the first andsecond toothed sections 706, 708.

The embodiments of the payload mounts 600, 700 described herein permiteasy coupling and decoupling of the payload while avoiding issues ofmaterial fatigue associated with existing spring-based mounts. Wheredesired, different payload mounts can be used for different payloads.Alternatively, a single payload mount can be used for differentpayloads, with the positioning of the clamping portions being adjustedto accommodate each payload. Additionally, it shall be understood thatalthough the payload mounts 600, 700 are depicted herein as utilizingintermeshing toothed sections, other types of complementary features canalso be used to couple the clamping portions of the mounts 600, 700 toeach other. For example, the first and second clamping portion of themounts described herein can include any number and combination of matingprotrusions and indentations suitable for securing the relativepositions of the clamping portions. Furthermore, the payload mounts canbe used in conjunction with any of the mounting platforms describedherein (e.g., the mounting platform 200). In some embodiments, thepayload mounts 600, 700 can be coupled to a mounting platform viasuitable fastening features, such as fastening features (e.g., screwthreads, interlocking elements) situated on the region Y and configuredto engage complementary fastening features on the mounting platform. Thepayload mount can be fixedly coupled or releasably coupled to themounting platform, and the orientation of the payload mount (andtherefore the payload) can be controlled by the mounting platform, aspreviously described herein.

FIG. 8 illustrates a base adapter 800 for mounting on a movable object,in accordance with embodiments. The base adapter 800 can be a basesupport for a mounting platform 802. The mounting platform 802 mayinclude a mounting assembly 804 and support assembly 806, and can beused to support a payload, as described elsewhere herein. The baseadapter 800 can be any element or combination of elements suitable formounting onto a movable object, such as a rack, frame, holder, mount,cradle, bracket, plate, or tripod. For example, as depicted in FIG. 8,the base adapter 800 can include a stand 808, a plurality of vibrationdampers 810, and a base plate 812. Where desired, the base adapter 800can be outfitted with a protective cover, which may protect the payload,mounting platform 802, and/or base adapter 800 from the environment(e.g., a waterproof cover). In some embodiments, the protective covercan be a spherical or hemispherical shape.

The base adapter 800 can be operably coupled to the mounting platform802 and/or a payload supported by the mounting platform 802, such thatthe base adapter 800 can communicate power and/or data to the mountingplatform 802 and/or payload. Furthermore, the base adapter 800 caninclude any of the components previously described herein with respectto the base support 200 of FIG. 2 (e.g., power source, controller,memory, display, communication module). Any of the functionalitiesdescribed herein with respect to the base support 200 can be applied tothe base adapter 800.

The base adapters described herein can be used in conjunction with anytype of movable object, such as ground vehicles, aerial vehicle, watervehicles, or any other movable object described herein. For example, thebase adapter 800 can be mounted onto an automobile. The base adapter 800can be permanently affixed to the movable object. Alternatively, thebase adapter 800 can be releasably coupled to the movable object.Exemplary couplings may utilize adhesives, bonding, welding, fasteners,clamps, ropes, suction cups, and the like. In some instances, the baseadapter 800 can be electrically coupled to the movable object, such thatthe base adapter is capable of communicating data and/or power to themovable object. For example, the base adapter 800 may receive data fromthe payload and transmit the data to the movable object. As anotherexample, the base adapter 800 may transmit power from a power supply ofthe movable object to the mounting platform 802 and/or the payload. In afurther example, the base adapter 800 may receive control signals fromthe movable object and transmit the control signals to the payloadand/or mounting platform 802 to control a functionality thereof.

In some embodiments, the base adapters described herein can beconfigured to be worn by a movable object that is a living being. Theliving being can be a human or an animal. Such wearable base adapterscan be worn directly by the living being, or can be coupled to an objectworn by the living being (e.g., a helmet, an article of clothing, abackpack, a harness, etc.) using any of the coupling techniquesdisclosed herein. The wearable base adapter can be worn on any portionof the body, such as the head, arms, hands, legs, feet, shoulders, back,chest, hips, or torso, or suitable combinations thereof.

FIG. 9 illustrates a handheld support 900, in accordance withembodiments. The handheld support 900 can be a base support for amounting platform 902. The mounting platform 902 may include a mountingassembly 904 and support assembly 906 for supporting a payload, asdescribed elsewhere herein. The handheld support 900 can be configuredto enable the mounting platform 902 and a payload coupled to themounting platform 902 to be supported by a hand (or a pair of hands). Insome embodiments, the handheld support 900 can include a support member,such as grip or handle 908, which can have a suitable size (e.g.,length, width, thickness, diameter), weight, or shape (e.g., anergonomic shape) for being held by a hand. For example, the length ofthe handle 908 may be less than or equal to about 10 cm, 11 cm, 12 cm,13 cm, 14 cm, 15 cm, 16 cm, 17 cm, 18 cm, 19 cm, 20 cm, 25 cm, 30 cm, 40cm, or 50 cm. Conversely, the length of the handle 908 may be greaterthan or equal to about 5 cm, 10 cm, 11 cm, 12 cm, 13 cm, 14 cm, 15 cm,16 cm, 17 cm, 18 cm, 19 cm, 20 cm, 25 cm, 30 cm, or 40 cm. The width ofthe handle 908 may be less than the length. For example, the width ofthe handle 908 may be less than or equal to about 1 cm, 2 cm, 3 cm, 4cm, 5 cm, 6 cm, 7 cm, 8 cm, 9 cm, or 10 cm. Alternatively, the width ofthe handle 908 may be greater than or equal to about 0.5 cm, 1 cm, 2 cm,3 cm, 4 cm, 5 cm, 6 cm, 7 cm, 8 cm, or 9 cm. The diameter of the handle908 may be less than or equal to about 0.5 cm, 1 cm, 1.5 cm, 2 cm, 2.5cm, 3 cm, 3.5 cm, 4 cm, 4.5 cm, or 5 cm. In some instances, the diameterof the handle 908 may be greater than or equal to about 0.5 cm, 1 cm,1.5 cm, 2 cm, 2.5 cm, 3 cm, 3.5 cm, 4 cm, 4.5 cm, or 5 cm. The weight ofthe handle 908 may be less than or equal to about 10 g, 25 g, 50 g, 100g, 200 g, 300 g, 400 g, 500 g, 600 g, 700 g, 800 g, 900 g, 1 kg, 1.5 kg,or 2 kg.

In some embodiments, the handle 908 may include a stand 910, which maybe a structure capable of independently supporting the handheld support900 when placed on a surface. For example, the stand 910 can bepositioned at or near the proximal end of the handle 908, therebyenabling the handheld support 900 to be independently supported in avertical position. Alternatively, suitable support elements can beplaced on other portions of the handle 908 and may enable the handheldsupport 900 to be independently supported in other orientations (e.g.,horizontal). Furthermore, in some embodiments, the handheld support 900can include a protective cover (e.g., a waterproof cover), which maycover some or all portions of the handle 908, mounting platform 902,and/or a coupled payload.

The handle 908 may include an input interface 912. The input interface912 is depicted in FIG. 9 as a joystick, but may alternatively oradditionally include buttons, keyboards, touch screens, and the like.The input interface may be positioned on the handle 908 in a mannereasily accessible by the fingers of the user. For example, the inputinterface may be positioned near the distal end of the handle 908 (whichmay refer to the end of the handle 908 closest to the mounting platform904), near the proximal end of the handle, or approximately in themiddle of the handle. In some embodiments, different elements of theinput interface 912 may be situated on different portions of the handle908. For example, some elements may be located near the proximal end,while other elements may be located near the distal end. As previouslymentioned, the input interface 912 may be used to input control signalsfor controlling the support assembly 906 and/or the payload, as well asother functionalities of the handheld support 900. For example, thecontrol signals can be used to control an imaging device (e.g., acamera, smartphone, or other imaging-enabled mobile device) coupled tothe mounting platform 902. The control signals can adjust the positionand/or orientation of the imaging device via the support assembly 906,as previously described herein. In some embodiments, the control signalscan control a function of the imaging device, such as a record function,zoom in function, zoom out function, power on function, power offfunction, change of focus function, change of field of view function,and so on.

The handheld support 900 can be operably coupled to the mountingplatform 902 and/or a payload supported by the mounting platform 902,such that the handheld support 900 can communicate power and/or data tothe mounting platform 902 and/or payload. Furthermore, the base adapter900 can include any of the components previously described herein withrespect to the base support 200 of FIG. 2 (e.g., power source,controller, memory, display, communication module). Any of thefunctionalities described herein with respect to the base support 200can be applied to the base adapter 900. Furthermore, any of thesefunctionalities can be controlled by a user via the input interface 912.

FIG. 10 is a schematic illustration depicting a method 1000 forinterchangeably mounting a payload, in accordance with embodiments. Themethod 1000 can be practiced using any of the system and devicesdescribed herein.

In step 1010, a mounting platform coupled to a first base support isprovided. The mounting platform can be any embodiment of the platformsdescribed herein, and can be releasably mechanically and electricallycoupled to a suitable payload. The first base support can be anyembodiment of the base supports described herein. For example, amounting platform supporting an imaging device can be provided coupledto a UAV. In some instances, the mounting platform can be coupled to thefirst base support via a releasable electrical and mechanical coupling(e.g., coupling mechanism 400) enabling data transmission between thepayload and the first base support.

In step 1020, the mounting platform is decoupled from the first basesupport. For example, the mounting platform supporting the imagingdevice can be decoupled from the UAV. The decoupling may involvedisengaging interlocking coupling mechanisms, as previously describedherein. In some embodiments, the decoupling can be performed withoutremoving the payload from the mounting platform. Alternatively, thepayload can be removed from the mounting platform prior to decouplingthe base support.

In step 1030, the mounting platform is coupled to a second base supportdifferent from the first base support. The second base support can beany embodiment of the base supports described herein. For example, themounting platform supporting the imaging device, once decoupled from theUAV, can be coupled to a handheld support. The mounting platform canalso be coupled to the second base support via a releasable electricaland mechanical coupling, such as a coupling enabling data transmissionbetween the payload and the second base support (e.g., couplingmechanism 400).

FIGS. 11A through 11L illustrate a mounting platform 1100, in accordancewith embodiments. FIG. 11A illustrates a perspective view of themounting platform 1100 (see also FIGS. 11B through 11F). The platform1100 can include a support assembly 1102 and a mounting assembly 1104.The support assembly 1102 can include a payload mount 1106, a firstorientation control unit 1108, and a second orientation control unit1110. The payload mount 1106 can be used to a secure a payload. Forinstance, the payload mount 1106 can include a base plate 1112 and abracket 1114 for securing the payload against the base plate 1112. Thebracket 1114 can be removably coupled to the base plate 1112 so as toenable a payload to be removably mounted within the payload mount 1106.Optionally, the base plate 1112 can include an electrical interface 1116enabling the payload to be electrically coupled to the payload mount1106.

The first orientation control unit 1108 can be configured to rotate thepayload mount 1106 and coupled payload about a first axis of rotation,and the second orientation control unit 1110 can be configured to rotatethe first orientation control unit 1108, payload mount 1106, and payloadabout a second axis of rotation. Accordingly, the support assembly 1102can be used to rotate a payload with respect to up to two axes offreedom. The two axes of freedom can be orthogonal axes. In someinstances, the axes can intersect. The rotations produced by the firstand second orientation control units 1108, 1110 can be actuated bysuitable actuation units (e.g., motors), as previously described herein.

FIG. 11G illustrates an exploded view of the mounting platform 1100 (seealso FIGS. 11H through 11K). The mounting assembly 1104 of the platform1100 can include a first portion 1118, a second portion 1120, and amounting base 1122. The first portion 1118 can be coupled to the supportassembly 1102 using one or more fasteners, such as via screws insertedthrough screw holes 1124. In some instances, the first portion 1118 canbe shaped as a cylinder or disk having a central hole 1126. The secondportion 1120 can include a base 1128 and a post 1130 extendingperpendicularly upwards from the base 1128. The post 1130 can be shapedto be received within the hole 1126 of the first portion 1118, therebyenabling the first and second portions 1118, 1120 to be coupled together(e.g., permanently or releasably coupled). The base 1128 of the secondportion 1120 can include a curved portion 1132, such that the base 1128forms a U shape. The mounting base 1122 can include a cavity 1134complementary to the shape of the base 1128, such as U-shaped cavity.Accordingly, the base 1128 can be slid into the cavity 1134 so as tocouple the second portion 1120 to the mounting base 1122. Optionally,the mounting base 1122 can include walls 1136, 1138 surrounding thecavity 1134 so as to secure the base 1128 within the cavity 1134 andprevent it from moving upwards or downwards relative to the mountingbase 1122. In some instances, the mounting base 1122 can be situated onany of the base supports described herein, such that the supportassembly 1102 can be engaged to the base support via the couplingbetween the first and second portions 1118, 1120 to do the mounting base1122. The coupling can be a releasable coupling, such as a releasablecoupling incorporating any of the coupling mechanisms previouslydescribed herein. In some instances, the coupling can enable themounting platform 1100 to be interchangeably coupled to a plurality ofdifferent types of base supports (e.g., movable object such as a UAV,base adapter, handheld support), similar to the other embodimentsdescribed herein.

FIGS. 12A-12D illustrate a coupling mechanism 1200 for connecting amounting platform to a base support, in accordance with embodiments.FIGS. 12A and 12B illustrate exploded perspective views of the couplingmechanism 1200, FIG. 12C illustrates a side view, and FIG. 12Dillustrates a cross-sectional view through line F-F. The couplingmechanism 1200 includes a first portion 1202 and a second portion 1204adapted to releasably couple to each other. The first portion 1202 canbe a plate or other component configured to couple to a base support(e.g., via fasteners such as screws 1206) and the second portion 1204can be situated on a mounting platform (e.g., a mounting assembly), orvice-versa. The first and second portions 1202, 1204 can be coupled toeach other via a quick release assembly including a locking ring 1208,adapter 1210, and a pair of locking pins 1212. The first and secondportions 1202, 1204 can respectively include first and second electricalconnections 1214, 1216 that, when brought into contact with each otherby the coupling of the first and second portions 1202, 1204, enableelectrical communication between the first and second portions 1202,1204, thereby electrically coupling the base support and mountingassembly. The electrical connections 1214, 1216 can include any suitablecombination of mating electrical components, including pins, contacts,sockets, plugs, and so on.

The locking ring 1208, adapter 1210, and locking pins 1212 can bereleasably engaged with each other so as to form a quick releasecoupling between the first and second portions 1202, 1204. The adapter1210 can be inserted within the locking ring 1208 so that the externalsurface of the flange 1218 of the adapter 1210 abuts the internalsurface of the shoulder 1220 of the locking ring 1208, thereby couplingthe adapter 1210 and the locking ring 1208. The coupling between theadapter 1210 and the locking ring 1208 can be a permanent coupling or areleasable coupling. The first portion 1202 can be secured to thecoupled locking ring 1208 and adapter 1210 by one or more fasteners,such as by screws 1222 inserted within corresponding screw holes 1224situated on the adapter 1210. To couple the first and second portions1202, 1204, the second portion 1204 can be inserted within the adapter1210 such that the locking pins 1212 protrude through apertures 1226 onthe adapter 1210 and channels 1228 on the locking ring 1208. Thecoupling mechanism 1200 can include any suitable number of locking pins1212 and corresponding apertures 1226 and channels 1228, such as two,three, four, or more. The locking ring 1208 can be rotated along a firstdirection (e.g., clockwise) relative to the first portion 1202, secondportion 1204, adapter 1210, and locking pins 1212 so that the lockingpins 1212 are secured within the channels 1228, thereby locking thefirst and second portions 1202, 1204 at a fixed position and orientationrelative to each other. To uncouple the first and second portions 1202,1204, the locking ring 1208 can be rotated in the reverse direction(e.g., counterclockwise), thereby enabling the locking pins 1212 to bedisengaged from the apertures 1226 and channel 1228 so as to release thesecond portion 1202 from within the adapter 1210.

FIGS. 13A-13C illustrates a coupling mechanism 1300 for connecting amounting platform to a base support, in accordance with embodiments.FIG. 13A illustrates an exploded perspective view of the couplingmechanism 1300, FIG. 13B illustrates a side view, and FIG. 13Cillustrates a cross-sectional view through line G-G. Similar to otherembodiments provided herein, the coupling mechanism 1300 can includefirst and second portions 1302, 1304 that can be respectively coupled toa mounting platform and a base support, or vice-versa. The first andsecond portions 1302, 1304 can be releasably coupled to each other via aquick release coupling using a locking ring 1306. Additionally, thefirst and second portions 1302, 1304 can respectively include first andsecond electrical connections 1308, 1310 that, when brought into contactwith each other by the coupling of the first and second portions 1302,1304, enable electrical communication between the first and secondportions 1302, 1304, thereby electrically coupling the base support andmounting assembly.

The second portion 1304 can be inserted within the locking ring 1306such that the external surface of the flange 1312 on the second portion1304 abuts the internal surface of the shoulder 1314 of the locking ring1306, thereby coupling the second portion 1302 and the locking ring1306. The coupling between the second portion 1304 and the locking ring1306 can be a permanent coupling or a releasable coupling. The coupledlocking ring 1306 and second portion 1304 can be releasably coupled tothe first portion 1302 using any suitable mechanism. For example, thefirst portion 1302 can include features 1316 shaped to releasably engagemating features 1318 situated on the locking ring 1306, thereby couplingthe first and second portions 1302, 1304 via the locking ring 1306. Insome instances, the features 1316 on the first portion 1302 can be malescrew threads and the features 1318 on the locking ring 1306 can befemale screw threads so that the first and second portions 1302, 1304can be coupled and coupled by screwing or unscrewing the locking ring1306, respectively. Conversely, the features 1316 on the first portion1302 can be female screw threads and the features 1318 on the lockingring 1306 can be male screw threads. Optionally, other types of matinglocking features can be used, such as grooves, slots, tabs, protrusions,channels, and the like.

The systems, devices, and methods described herein can be applied to awide variety of base supports. Some base supports may be movableobjects. As previously mentioned, any description herein of an aerialvehicle may apply to and be used for any movable object. A movableobject of the present invention can be configured to move within anysuitable environment, such as in air (e.g., a fixed-wing aircraft, arotary-wing aircraft, or an aircraft having neither fixed wings norrotary wings), in water (e.g., a ship or a submarine), on ground (e.g.,a motor vehicle, such as a car, truck, bus, van, motorcycle, bicycle; amovable structure or frame such as a stick, fishing pole; or a train),under the ground (e.g., a subway), in space (e.g., a spaceplane, asatellite, or a probe), or any combination of these environments. Themovable object can be a vehicle, such as a vehicle described elsewhereherein. In some embodiments, the movable object can be a living subjector be carried by a living subject, such as a human or an animal.Suitable animals can include avines, canines, felines, equines, bovines,ovines, porcines, delphines, rodents, or insects.

The movable object may be capable of moving freely within theenvironment with respect to six axes of freedom (e.g., three axes offreedom in translation and three axes of freedom in rotation).Alternatively, the movement of the movable object can be constrainedwith respect to one or more axes of freedom, such as by a predeterminedpath, track, or orientation. The movement can be actuated by anysuitable actuation mechanism, such as an engine or a motor. Theactuation mechanism of the movable object can be powered by any suitableenergy source, such as electrical energy, magnetic energy, solar energy,wind energy, gravitational energy, chemical energy, nuclear energy, orany suitable combination thereof. The movable object may beself-propelled via a propulsion system, as described elsewhere herein.The propulsion system may optionally run on an energy source, such aselectrical energy, magnetic energy, solar energy, wind energy,gravitational energy, chemical energy, nuclear energy, or any suitablecombination thereof. Alternatively, the movable object may be carried bya living being.

In some instances, the movable object can be a vehicle. Suitablevehicles may include water vehicles, aerial vehicles, space vehicles, orground vehicles. For example, aerial vehicles may be fixed-wing aircraft(e.g., airplane, gliders), rotary-wing aircraft (e.g., helicopters,rotorcraft), aircraft having both fixed wings and rotary wings, oraircraft having neither (e.g., blimps, hot air balloons). A vehicle canbe self-propelled, such as self-propelled through the air, on or inwater, in space, or on or under the ground. A self-propelled vehicle canutilize a propulsion system, such as a propulsion system including oneor more engines, motors, wheels, axles, magnets, rotors, propellers,blades, nozzles, or any suitable combination thereof. In some instances,the propulsion system can be used to enable the movable object to takeoff from a surface, land on a surface, maintain its current positionand/or orientation (e.g., hover), change orientation, and/or changeposition.

The movable object can be controlled remotely by a user or controlledlocally by an occupant within or on the movable object. In someembodiments, the movable object is an unmanned movable object, such as aUAV. An unmanned movable object, such as a UAV, may not have an occupantonboard the movable object. The movable object can be controlled by ahuman or an autonomous control system (e.g., a computer control system),or any suitable combination thereof. The movable object can be anautonomous or semi-autonomous robot, such as a robot configured with anartificial intelligence.

The movable object can have any suitable size and/or dimensions. In someembodiments, the movable object may be of a size and/or dimensions tohave a human occupant within or on the vehicle. Alternatively, themovable object may be of size and/or dimensions smaller than thatcapable of having a human occupant within or on the vehicle. The movableobject may be of a size and/or dimensions suitable for being lifted orcarried by a human. Alternatively, the movable object may be larger thana size and/or dimensions suitable for being lifted or carried by ahuman. In some instances, the movable object may have a maximumdimension (e.g., length, width, height, diameter, diagonal) of less thanor equal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. Themaximum dimension may be greater than or equal to about: 2 cm, 5 cm, 10cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. For example, the distance betweenshafts of opposite rotors of the movable object may be less than orequal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m.Alternatively, the distance between shafts of opposite rotors may begreater than or equal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m,or 10 m.

In some embodiments, the movable object may have a volume of less than100 cm×100 cm×100 cm, less than 50 cm×50 cm×30 cm, or less than 5 cm×5cm×3 cm. The total volume of the movable object may be less than orequal to about: 1 cm³, 2 cm³, 5 cm³, 10 cm³, 20 cm³, 30 cm³, 40 cm³, 50cm³, 60 cm³, 70 cm³, 80 cm³, 90 cm³, 100 cm³, 150 cm³, 200 cm³, 300 cm³,500 cm³, 750 cm³, 1000 cm³, 5000 cm³, 10,000 cm³, 100,000 cm³, 1 m³, or10 m³. Conversely, the total volume of the movable object may be greaterthan or equal to about: 1 cm³, 2 cm³, 5 cm³, 10 cm³, 20 cm³, 30 cm³, 40cm³, 50 cm³, 60 cm³, 70 cm³, 80 cm³, 90 cm³, 100 cm³, 150 cm³, 200 cm³,300 cm³, 500 cm³, 750 cm³, 1000 cm³, 5000 cm³, 10,000 cm³, 100,000 cm³,1 m³, or 10 m³.

In some embodiments, the movable object may have a footprint (which mayrefer to the lateral cross-sectional area encompassed by the movableobject) less than or equal to about: 32,000 cm², 20,000 cm², 10,000 cm²,1,000 cm², 500 cm², 100 cm², 50 cm², 10 cm², or 5 cm². Conversely, thefootprint may be greater than or equal to about: 32,000 cm², 20,000 cm²,10,000 cm², 1,000 cm², 500 cm², 100 cm², 50 cm², 10 cm², or 5 cm².

In some instances, the movable object may weigh no more than 1000 kg.The weight of the movable object may be less than or equal to about:1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60 kg, 50kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10 kg, 9 kg,8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1 kg, 0.05 kg,or 0.01 kg. Conversely, the weight may be greater than or equal toabout: 1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60kg, 50 kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10kg, 9 kg, 8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1kg, 0.05 kg, or 0.01 kg.

In some embodiments, a movable object may be small relative to a loadcarried by the movable object. The load may include a payload and/or acarrier, as described in further detail elsewhere herein. In someexamples, a ratio of a movable object weight to a load weight may begreater than, less than, or equal to about 1:1. In some instances, aratio of a movable object weight to a load weight may be greater than,less than, or equal to about 1:1. Optionally, a ratio of a carrierweight to a load weight may be greater than, less than, or equal toabout 1:1. When desired, the ratio of an movable object weight to a loadweight may be less than or equal to: 1:2, 1:3, 1:4, 1:5, 1:10, or evenless. Conversely, the ratio of a movable object weight to a load weightcan also be greater than or equal to: 2:1, 3:1, 4:1, 5:1, 10:1, or evengreater.

In some embodiments, the movable object may have low energy consumption.For example, the movable object may use less than about: 5 W/h, 4 W/h, 3W/h, 2 W/h, 1 W/h, or less. In some instances, a carrier of the movableobject may have low energy consumption. For example, the carrier may useless than about: 5 W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h, or less. Optionally,a payload of the movable object may have low energy consumption, such asless than about: 5 W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h, or less.

FIG. 14 illustrates an unmanned aerial vehicle (UAV) 1400, in accordancewith embodiments of the present invention. The UAV may be an example ofa movable object as described herein. The UAV 1400 can include apropulsion system having four rotors 1402, 1404, 1406, and 1408. Anynumber of rotors may be provided (e.g., one, two, three, four, five,six, or more). The rotors, rotor assemblies, or other propulsion systemsof the unmanned aerial vehicle may enable the unmanned aerial vehicle tohover/maintain position, change orientation, and/or change location. Thedistance between shafts of opposite rotors can be any suitable length1410. For example, the length 1410 can be less than or equal to 2 m, orless than equal to 5 m. In some embodiments, the length 1410 can bewithin a range from 40 cm to 1 m, from 10 cm to 2 m, or from 5 cm to 5m. Any description herein of a UAV may apply to a movable object, suchas a movable object of a different type, and vice versa.

In some embodiments, the movable object can be configured to carry aload. The load can include one or more of passengers, cargo, equipment,instruments, and the like. The load can be provided within a housing.The housing may be separate from a housing of the movable object, or bepart of a housing for an movable object. Alternatively, the load can beprovided with a housing while the movable object does not have ahousing. Alternatively, portions of the load or the entire load can beprovided without a housing. The load can be rigidly fixed relative tothe movable object. Optionally, the load can be movable relative to themovable object (e.g., translatable or rotatable relative to the movableobject). The load can include a payload and/or a carrier, as describedelsewhere herein.

In some embodiments, the movement of the movable object, carrier, andpayload relative to a fixed reference frame (e.g., the surroundingenvironment) and/or to each other, can be controlled by a terminal. Theterminal can be a remote control device at a location distant from themovable object, carrier, and/or payload. The terminal can be disposed onor affixed to a support platform. Alternatively, the terminal can be ahandheld or wearable device. For example, the terminal can include asmartphone, tablet, laptop, computer, glasses, gloves, helmet,microphone, or suitable combinations thereof. The terminal can include auser interface, such as a keyboard, mouse, joystick, touchscreen, ordisplay. Any suitable user input can be used to interact with theterminal, such as manually entered commands, voice control, gesturecontrol, or position control (e.g., via a movement, location or tilt ofthe terminal).

The terminal can be used to control any suitable state of the movableobject, carrier, and/or payload. For example, the terminal can be usedto control the position and/or orientation of the movable object,carrier, and/or payload relative to a fixed reference from and/or toeach other. In some embodiments, the terminal can be used to controlindividual elements of the movable object, carrier, and/or payload, suchas the actuation assembly of the carrier, a sensor of the payload, or anemitter of the payload. The terminal can include a wirelesscommunication device adapted to communicate with one or more of themovable object, carrier, or payload.

The terminal can include a suitable display unit for viewing informationof the movable object, carrier, and/or payload. For example, theterminal can be configured to display information of the movable object,carrier, and/or payload with respect to position, translationalvelocity, translational acceleration, orientation, angular velocity,angular acceleration, or any suitable combinations thereof. In someembodiments, the terminal can display information provided by thepayload, such as data provided by a functional payload (e.g., imagesrecorded by a camera or other image capturing device).

Optionally, the same terminal may both control the movable object,carrier, and/or payload, or a state of the movable object, carrierand/or payload, as well as receive and/or display information from themovable object, carrier and/or payload. For example, a terminal maycontrol the positioning of the payload relative to an environment, whiledisplaying image data captured by the payload, or information about theposition of the payload. Alternatively, different terminals may be usedfor different functions. For example, a first terminal may controlmovement or a state of the movable object, carrier, and/or payload whilea second terminal may receive and/or display information from themovable object, carrier, and/or payload. For example, a first terminalmay be used to control the positioning of the payload relative to anenvironment while a second terminal displays image data captured by thepayload. Various communication modes may be utilized between a movableobject and an integrated terminal that both controls the movable objectand receives data, or between the movable object and multiple terminalsthat both control the movable object and receives data. For example, atleast two different communication modes may be formed between themovable object and the terminal that both controls the movable objectand receives data from the movable object.

FIG. 15 illustrates a movable object 1500 including a carrier 1502 and apayload 1504, in accordance with embodiments. Although the movableobject 1500 is depicted as an aircraft, this depiction is not intendedto be limiting, and any suitable type of movable object can be used, aspreviously described herein. One of skill in the art would appreciatethat any of the embodiments described herein in the context of aircraftsystems can be applied to any suitable movable object (e.g., an UAV). Insome instances, the payload 1504 may be provided on the movable object1500 without requiring the carrier 1502. The movable object 1500 mayinclude propulsion mechanisms 1506, a sensing system 1508, and acommunication system 1510.

The propulsion mechanisms 1506 can include one or more of rotors,propellers, blades, engines, motors, wheels, axles, magnets, or nozzles,as previously described. The movable object may have one or more, two ormore, three or more, or four or more propulsion mechanisms. Thepropulsion mechanisms may all be of the same type. Alternatively, one ormore propulsion mechanisms can be different types of propulsionmechanisms. The propulsion mechanisms 1506 can be mounted on the movableobject 1500 using any suitable means, such as a support element (e.g., adrive shaft) as described elsewhere herein. The propulsion mechanisms1506 can be mounted on any suitable portion of the movable object 1500,such on the top, bottom, front, back, sides, or suitable combinationsthereof.

In some embodiments, the propulsion mechanisms 1506 can enable themovable object 1500 to take off vertically from a surface or landvertically on a surface without requiring any horizontal movement of themovable object 1500 (e.g., without traveling down a runway). Optionally,the propulsion mechanisms 1506 can be operable to permit the movableobject 1500 to hover in the air at a specified position and/ororientation. One or more of the propulsion mechanisms 1500 may becontrolled independently of the other propulsion mechanisms.Alternatively, the propulsion mechanisms 1500 can be configured to becontrolled simultaneously. For example, the movable object 1500 can havemultiple horizontally oriented rotors that can provide lift and/orthrust to the movable object. The multiple horizontally oriented rotorscan be actuated to provide vertical takeoff, vertical landing, andhovering capabilities to the movable object 1500. In some embodiments,one or more of the horizontally oriented rotors may spin in a clockwisedirection, while one or more of the horizontally rotors may spin in acounterclockwise direction. For example, the number of clockwise rotorsmay be equal to the number of counterclockwise rotors. The rotation rateof each of the horizontally oriented rotors can be varied independentlyin order to control the lift and/or thrust produced by each rotor, andthereby adjust the spatial disposition, velocity, and/or acceleration ofthe movable object 1500 (e.g., with respect to up to three axes oftranslation and up to three axes of rotation).

The sensing system 1508 can include one or more sensors that may sensethe spatial disposition, velocity, and/or acceleration of the movableobject 1500 (e.g., with respect to up to three axes of translation andup to three axes of rotation). The one or more sensors can includeglobal positioning system (GPS) sensors, motion sensors, inertialsensors, proximity sensors, or image sensors. The sensing data providedby the sensing system 1508 can be used to control the spatialdisposition, velocity, and/or orientation of the movable object 1500(e.g., using a suitable processing unit and/or control module, asdescribed below). Alternatively, the sensing system 1508 can be used toprovide data regarding the environment surrounding the movable object,such as weather conditions, proximity to potential obstacles, locationof geographical features, location of manmade structures, and the like.

The communication system 1510 enables communication with terminal 1512having a communication system 1514 via wireless signals 1516. Thecommunication systems 1510, 1514 may include any number of transmitters,receivers, and/or transceivers suitable for wireless communication. Thecommunication may be one-way communication, such that data can betransmitted in only one direction. For example, one-way communicationmay involve only the movable object 1500 transmitting data to theterminal 1512, or vice-versa. The data may be transmitted from one ormore transmitters of the communication system 1510 to one or morereceivers of the communication system 1512, or vice-versa.Alternatively, the communication may be two-way communication, such thatdata can be transmitted in both directions between the movable object1500 and the terminal 1512. The two-way communication can involvetransmitting data from one or more transmitters of the communicationsystem 1510 to one or more receivers of the communication system 1514,and vice-versa.

In some embodiments, the terminal 1512 can provide control data to oneor more of the movable object 1500, carrier 1502, and payload 1504 andreceive information from one or more of the movable object 1500, carrier1502, and payload 1504 (e.g., position and/or motion information of themovable object, carrier or payload; data sensed by the payload such asimage data captured by a payload camera). In some instances, controldata from the terminal may include instructions for relative positions,movements, actuations, or controls of the movable object, carrier and/orpayload. For example, the control data may result in a modification ofthe location and/or orientation of the movable object (e.g., via controlof the propulsion mechanisms 1506), or a movement of the payload withrespect to the movable object (e.g., via control of the carrier 1502).The control data from the terminal may result in control of the payload,such as control of the operation of a camera or other image capturingdevice (e.g., taking still or moving pictures, zooming in or out,turning on or off, switching imaging modes, change image resolution,changing focus, changing depth of field, changing exposure time,changing viewing angle or field of view). In some instances, thecommunications from the movable object, carrier and/or payload mayinclude information from one or more sensors (e.g., of the sensingsystem 1508 or of the payload 1504). The communications may includesensed information from one or more different types of sensors (e.g.,GPS sensors, motion sensors, inertial sensor, proximity sensors, orimage sensors). Such information may pertain to the position (e.g.,location, orientation), movement, or acceleration of the movable object,carrier and/or payload. Such information from a payload may include datacaptured by the payload or a sensed state of the payload. The controldata provided transmitted by the terminal 1512 can be configured tocontrol a state of one or more of the movable object 1500, carrier 1502,or payload 1504. Alternatively or in combination, the carrier 1502 andpayload 1504 can also each include a communication module configured tocommunicate with terminal 1512, such that the terminal can communicatewith and control each of the movable object 1500, carrier 1502, andpayload 1504 independently.

In some embodiments, the movable object 1500 can be configured tocommunicate with another remote device in addition to the terminal 1512,or instead of the terminal 1512. The terminal 1512 may also beconfigured to communicate with another remote device as well as themovable object 1500. For example, the movable object 1500 and/orterminal 1512 may communicate with another movable object, or a carrieror payload of another movable object. When desired, the remote devicemay be a second terminal or other computing device (e.g., computer,laptop, tablet, smartphone, or other mobile device). The remote devicecan be configured to transmit data to the movable object 1500, receivedata from the movable object 1500, transmit data to the terminal 1512,and/or receive data from the terminal 1512. Optionally, the remotedevice can be connected to the Internet or other telecommunicationsnetwork, such that data received from the movable object 1500 and/orterminal 1512 can be uploaded to a website or server.

FIG. 16 is a schematic illustration by way of block diagram of a system1600 for controlling a movable object, in accordance with embodiments.The system 1600 can be used in combination with any suitable embodimentof the systems, devices, and methods disclosed herein. The system 1600can include a sensing module 1602, processing unit 1604, non-transitorycomputer readable medium 1606, control module 1608, and communicationmodule 1610.

The sensing module 1602 can utilize different types of sensors thatcollect information relating to the movable objects in different ways.Different types of sensors may sense different types of signals orsignals from different sources. For example, the sensors can includeinertial sensors, GPS sensors, proximity sensors (e.g., lidar), orvision/image sensors (e.g., a camera). The sensing module 1602 can beoperatively coupled to a processing unit 1604 having a plurality ofprocessors. In some embodiments, the sensing module can be operativelycoupled to a transmission module 1612 (e.g., a Wi-Fi image transmissionmodule) configured to directly transmit sensing data to a suitableexternal device or system. For example, the transmission module 1612 canbe used to transmit images captured by a camera of the sensing module1602 to a remote terminal.

The processing unit 1604 can have one or more processors, such as aprogrammable processor (e.g., a central processing unit (CPU)). Theprocessing unit 1604 can be operatively coupled to a non-transitorycomputer readable medium 1606. The non-transitory computer readablemedium 1606 can store logic, code, and/or program instructionsexecutable by the processing unit 1604 for performing one or more steps.The non-transitory computer readable medium can include one or morememory units (e.g., removable media or external storage such as an SDcard or random access memory (RAM)). In some embodiments, data from thesensing module 1602 can be directly conveyed to and stored within thememory units of the non-transitory computer readable medium 1606. Thememory units of the non-transitory computer readable medium 1606 canstore logic, code and/or program instructions executable by theprocessing unit 1604 to perform any suitable embodiment of the methodsdescribed herein. For example, the processing unit 1604 can beconfigured to execute instructions causing one or more processors of theprocessing unit 1604 to analyze sensing data produced by the sensingmodule. The memory units can store sensing data from the sensing moduleto be processed by the processing unit 1604. In some embodiments, thememory units of the non-transitory computer readable medium 1606 can beused to store the processing results produced by the processing unit1604.

In some embodiments, the processing unit 1604 can be operatively coupledto a control module 1608 configured to control a state of the movableobject. For example, the control module 1608 can be configured tocontrol the propulsion mechanisms of the movable object to adjust thespatial disposition, velocity, and/or acceleration of the movable objectwith respect to six axes of freedom. Alternatively or in combination,the control module 1608 can control one or more of a state of a carrier,payload, or sensing module.

The processing unit 1604 can be operatively coupled to a communicationmodule 1610 configured to transmit and/or receive data from one or moreexternal devices (e.g., a terminal, display device, or other remotecontroller). Any suitable means of communication can be used, such aswired communication or wireless communication. For example, thecommunication module 1610 can utilize one or more of local area networks(LAN), wide area networks (WAN), infrared, radio, WiFi, point-to-point(P2P) networks, telecommunication networks, cloud communication, and thelike. Optionally, relay stations, such as towers, satellites, or mobilestations, can be used. Wireless communications can be proximitydependent or proximity independent. In some embodiments, line-of-sightmay or may not be required for communications. The communication module1610 can transmit and/or receive one or more of sensing data from thesensing module 1602, processing results produced by the processing unit1604, predetermined control data, user commands from a terminal orremote controller, and the like.

The components of the system 1600 can be arranged in any suitableconfiguration. For example, one or more of the components of the system1600 can be located on the movable object, carrier, payload, terminal,sensing system, or an additional external device in communication withone or more of the above. Additionally, although FIG. 16 depicts asingle processing unit 1604 and a single non-transitory computerreadable medium 1606, one of skill in the art would appreciate that thisis not intended to be limiting, and that the system 1600 can include aplurality of processing units and/or non-transitory computer readablemedia. In some embodiments, one or more of the plurality of processingunits and/or non-transitory computer readable media can be situated atdifferent locations, such as on the movable object, carrier, payload,terminal, sensing module, additional external device in communicationwith one or more of the above, or suitable combinations thereof, suchthat any suitable aspect of the processing and/or memory functionsperformed by the system 1600 can occur at one or more of theaforementioned locations.

While preferred embodiments of the present invention have been shown anddescribed herein, it will be obvious to those skilled in the art thatsuch embodiments are provided by way of example only. Numerousvariations, changes, and substitutions will now occur to those skilledin the art without departing from the invention. It should be understoodthat various alternatives to the embodiments of the invention describedherein may be employed in practicing the invention. It is intended thatthe following claims define the scope of the invention and that methodsand structures within the scope of these claims and their equivalents becovered thereby.

What is claimed is:
 1. A handheld assembly comprising: a payloadcomprising a mobile device having a camera and a display; a mountingplatform releasably coupled to the payload via a mating interface, saidmounting platform comprising a plurality of actuators for rotating thepayload about two or more axes; and a handheld support member comprisinga handle having a distal end coupled to the mounting platform, whereinthe display is configured to display (1) payload data generated orobtained by the payload, said payload data comprising image dataobtained by the camera and state information of the payload, and (2)non-payload data associated with the mounting platform and the handheldsupport member.
 2. The handheld assembly of claim 1, wherein the payloaddata further comprises sensing data indicative of a spatial dispositionof the payload.
 3. The handheld assembly of claim 2, wherein thenon-payload data comprises sensing data indicative of a spatialdisposition of the mounting platform and state information of thehandheld support member.
 4. The handheld assembly of claim 3, whereinthe handle includes a rechargeable power source for providing power tothe mounting platform, wherein the state information of the handheldsupport member indicates a remaining power capacity of the power source.5. The handheld assembly of claim 3, wherein the handheld support memberis configured to communicate wirelessly with the payload, and whereinthe state information of the handheld support member indicates whetherthe handheld support member is in wireless communication with thepayload.
 6. The handheld assembly of claim 1, wherein the mobile deviceis a smartphone.
 7. The handheld assembly of claim 2, wherein thepayload comprises one or more sensors configured to obtain the sensingdata indicative of the spatial disposition of the payload.
 8. Thehandheld assembly of claim 3, wherein the mounting platform comprisesone or more sensors configured to obtain the sensing data indicative ofthe spatial disposition of the mounting platform.
 9. The handheldassembly of claim 3, wherein the handheld support member comprises aninput interface on the handle for interacting with a user's finger foradjusting the spatial dispositions of the mounting platform or thepayload, wherein said input interface comprises a joystick and one ormore push buttons.
 10. The handheld assembly of claim 1, wherein theplurality of actuators comprises a first actuator located at the distalend of the handle and configured to rotate the mounting platformrelative to the handle about a first axis.
 11. The handheld assembly ofclaim 10, wherein the plurality of actuators further comprises a secondactuator located proximal to the mating interface and configured torotate the mounting platform relative to the handle about a second axisorthogonal to the first axis.
 12. The handheld assembly of claim 11,wherein the second actuator is coupled to the first actuator via anelongated arm extending from the distal end of the handle.
 13. Thehandheld assembly of claim 1, wherein the state information of thepayload indicates at least one of the following: (1) whether the camerais turned on or turned off, and (2) whether the camera is performing orhas completed a certain function.
 14. The handheld assembly of claim 1,wherein the payload is configured to transmit at least a portion of thepayload data to a memory in the handheld support member for storage. 15.The handheld assembly of claim 14, wherein the payload is configured to(1) transmit said portion of the payload data continuously or atspecific time intervals, or (2) transmit said portion of the payloaddata upon generation of new payload data.
 16. The handheld assembly ofclaim 1, wherein the display is configured to display the payload datasubstantially in real-time or at specific time intervals.
 17. Thehandheld assembly of claim 9, wherein the input interface is configuredto receive one or more control signals from the user for controlling thespatial disposition of the payload relative to the handle via themounting platform, wherein said control signals include (1) a firstcontrol signal that causes rotation of the payload about at least oneaxis, and (2) a second control signal that constrains rotation of thepayload about at least one axis.
 18. The handheld assembly of claim 17,wherein said control signals include (3) a third control signal thatcauses the payload to maintain its spatial disposition relative to areference frame independent of any movement of the handheld supportmember.
 19. The handheld assembly of claim 17, wherein the inputinterface further receives at least one control signal that isconfigured to effect control over a function of the camera, the functionbeing selected from the group consisting of an image capture function, arecord function, a power on function, a power off function, a zoom infunction, a zoom out function, a change of focus function, and a changeof field of view function.
 20. A method of using a handheld imagingassembly, comprising: providing a handheld support member comprising ahandle having a distal end coupled to a mounting platform; releasablycoupling the mounting platform to a payload via a mating interface,wherein the payload comprises a mobile device having a camera and adisplay, wherein the mounting platform comprises a plurality ofactuators for rotating the payload about two or more axes relative tothe handle; and providing on said display: (1) payload data generated orobtained by the payload, said payload data comprising image dataobtained by the camera and state information of the payload, and (2)non-payload data associated with the mounting platform and the handheldsupport member.